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Medical clamping method and system, medical robot and storage medium

A robotic arm and processor technology, applied in the field of medical devices, can solve problems such as fatigue of assistants, difficulty in persisting, surgical accidents, etc., and achieve the effects of reducing labor costs, high degree of automation, and strong controllability

Pending Publication Date: 2021-06-15
联仁健康医疗大数据科技股份有限公司
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

However, in some major operations, holding medical instruments for a long time often makes assistants feel tired and difficult to persist, and may also lead to surgical accidents

Method used

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  • Medical clamping method and system, medical robot and storage medium
  • Medical clamping method and system, medical robot and storage medium

Examples

Experimental program
Comparison scheme
Effect test

Embodiment 1

[0030] figure 1 The flow chart of the medical clamping method provided for this embodiment, such as figure 1 Shown, this medical clamping method comprises the steps:

[0031] S1. Collect the surface feature image of the object to be clamped, and perform image preprocessing;

[0032] S2. Select a gripping method according to the surface characteristics of the object to be gripped;

[0033] S3. Obtain obstacle information of the object to be clamped, and plan the clamping path;

[0034] S4. Perform force feedback on the clamping force of the object to be clamped to optimize the force applied during clamping.

[0035] Further, the clipping methods include flexible clipping and rigid clipping. Flexible gripping is suitable for gripping fragile items and preventing damage to items. Rigid gripping is suitable for gripping heavier objects, especially when high precision is required. In other embodiments, a rigid-flexible gripping method may also be used.

[0036] Further, in s...

Embodiment 2

[0041] This embodiment provides a medical clamping system, which can be applied to assist doctors to successfully complete operations during medical treatment. The medical clipping system provided in the embodiment of the present invention can execute the medical clipping method provided in the embodiment of the present invention, and has corresponding functional modules and beneficial effects for executing the method.

[0042] The medical gripping system includes a 3D camera, a robotic arm and a gripping device. The 3D camera is used to collect surface feature images of the object to be gripped; the robotic arm has multiple degrees of freedom; the gripping device is arranged at the end of the robotic arm for gripping Get the object to be gripped. When in use, the surface feature image of the object to be clamped is collected by the 3D camera, the clamping path of the clamping device is controlled by the mechanical arm, and the object to be clamped is clamped by the clamping d...

Embodiment 3

[0047] figure 2 It is a schematic structural diagram of the medical robot in this embodiment. figure 2 A block diagram of an exemplary medical robot 412 suitable for use in implementing embodiments of the invention is shown. figure 2 The shown medical robot 412 is only an example, and should not impose any limitation on the functions and scope of use of the embodiments of the present invention.

[0048] Such as figure 2 As shown, the medical robot 412 is represented in the form of a general-purpose terminal. The components of the medical robot 412 may include, but are not limited to: a medical robot body (not shown), one or more processors 416, a storage device 428, and a bus connecting different system components (including the storage device 428 and the processor 416) 418.

[0049] Bus 418 represents one or more of several types of bus structures, including a storage device bus or controller, a peripheral bus, an accelerated graphics port, a processor, or a local bus...

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PUM

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Abstract

The invention discloses a medical clamping method and system, a medical robot and a storage medium, and belongs to the field of medical instruments. The method comprises the steps of collecting a surface feature image of an object to be clamped, and performing image preprocessing; selecting a clamping mode according to the surface characteristics of the to-be-clamped object; acquiring obstacle information of an object to be clamped, and planning a clamping path; feeding the clamping force applied to the object to be clamped back, and optimizing the acting force applied during clamping. According to the invention, the to-be-clamped object can be automatically clamped so as to assist smooth completion of an operation, the automation degree is high, the controllability is high, the clamping efficiency and accuracy are improved, and the labor cost is reduced.

Description

technical field [0001] The invention relates to the field of medical devices, in particular to a medical clipping method, system, medical robot and storage medium. Background technique [0002] In traditional medical operations, doctors usually need assistants to hold some medical instruments, such as medical clips, to assist the doctor to complete the operation. However, in some major operations, holding medical instruments for a long time often makes assistants feel tired and difficult to persist, and may also lead to surgical accidents. Contents of the invention [0003] The object of the present invention is to provide a medical gripping method, system, medical robot and storage medium, which can realize automatic gripping of the object to be gripped, so as to assist the successful completion of the operation. [0004] In order to achieve the above purpose, the following technical solutions are provided: [0005] In a first aspect, the present invention provides a me...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G06T7/00G06T5/00G06K9/46G16H40/63
CPCG06T7/0012G16H40/63G06T2207/20032G06T2207/30004G06V10/44G06T5/70
Inventor 柳耀斌周乃宝
Owner 联仁健康医疗大数据科技股份有限公司
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